【作者】 谢志诚；

【导师】 李益华；

【作者基本信息】 长沙理工大学 ， 控制理论与控制工程， 2010， 硕士

【摘要】 足球机器人涉及到多学科、多领域,为研究多智能体系统、人工智能等理论提供了一个很好的研究平台,引起了越来越多的科研机构和大专院校的关注,也吸引了越来越多的科研人员和学者的参与。论文主要对RoboCup中型组足球机器人——三轮全向驱动机器人的运动控制进行了研究。首先建立了三轮全向移动机器人非线性系统模型,通过分析它的运动特性,采用基于运动学模型的分层控制方案实现机器人的运动控制。为了验证底层运动控制系统和控制策略的合理性,在分析无刷直流电机数学模型的基础上,利用Matlab/Simulink建立了无刷直流电机转速、电流双闭环控制系统的仿真模型,通过仿真得到了与理论分析相一致的仿真试验结果,证明了该控制方案的可行性。其次,本文设计了三轮全向移动机器人的运动控制算法,包括基于Lyapunov直接法的姿态稳定控制算法和基于输入变换解耦的轨迹跟踪控制算法,使系统具有良好的全局稳定性,实现了移动机器人的位置和方位的跟踪控制。仿真实验中考虑了驱动电机的动态特性,检验了控制算法的鲁棒性和有效性。最后,根据RoboCup中型组足球机器人底层控制系统的基本任务,采用双DSP构架,选择高性能DSP处理器TMS320LF2407A作为核心进行底层运动控制系统的设计。硬件部分,按照模块化的思想,主要设计了以TMS320LF2407A为核心的控制电路和无刷直流电机驱动模块;软件部分,在硬件平台基础上编制了各个模块的软件程序,给出了各模块的程序框图。更多还原

【Abstract】 Robot soccer, referring to multi-domain and multi-disciplinary, is a good test bed for multi-agent system and artificial intelligence theory. So far, it has been focused by many research institutes and colleges, more and more researchers and scholars pay attention to it.This thesis presents the research on motion control system of omni-directional mobile robots with three wheels for the RoboCup’s Middle Size Robot League. The thesis, firstly, builds the dynamic models of omni-directional robots, and decides to use the control based on dynamics model to achieve motion control of soccer robots by analyzing the characteristics of its movement. In order to verify the whole control system and the control strategy, a simulation model of motor control system had been founded on base of BLDCM mathematical model with Matlab/Simulink. The results of simulation were consistent with the theoretical analysis, which proved the control system was feasible. Secondly, some control algorithms for omni-directional mobile robots with three wheels are designed, including posture stabilization controller base on the input decoupling and the trajectory tracking controller base on Lyapunov stability theory, so the tracking performance of system has the global stability and the independent control of both position and orientation for a mobile robot is realized. Simulation experiments validate the stabilities of all control algorithms, and the robustness and practicability of all algorithms are also verified.Finally, the motion control system used a double DSP structure, and DSP microprocessor TMS320LF2407A with high advanced capacity is used as the chief chip to design the bottom movement control system from the basic tasks of RoboCup’s middle-league soccer robots. For hardware part, the control system of the microprocessor and BLDCM controller modular are designed according to the modular thought. For software part, the whole modules are programmed in foundation of the hardware platform, and the program flow charts of the various modules are given.更多还原